Once again, the original source code is in C++, rather than C# as I'll be using. Millington's code also uses OpenGL and GLUT, rather than DirectX. Consequently, these aren't going to be such straight ports like I did with most of Frank Luna's examples; I'll be porting the core physics code, and then for the examples, I'm just going to have to make something up that showcases the same features.
In any case, we'll start off with the simple particle physics of Chapters 3 & 4, and build a demo that simulates the ballistics of firing some different types of projectiles. You can find my source for this example on my GitHub page, at https://github.com/ericrrichards/dx11.git.
http://www.youtube.com/watch?feature=player_embedded&v=0X98m3WX8OA
Here you can see the four projectile types: 1.) a pistol-type round, 2.) a large artillery shell, 3) a fireball, 4.) a bolt from a railgun or energy weapon
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I think I looked through that book and didn't find anything useful for rotational physics, or else it was all mathematical theory. I read something about needing an "integrator" for a physics engine. Does that mean your engine needs to solve calculus problems?